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ROS and Simulation

asked 2018-10-10 00:30:08 -0600

valema gravatar image

Hi all, I'm a newbie. I was reading some ROS documentation and I was wondering how is best approach to simulation. If I well understood, ROS nodes are hosted in multiple hardware and ROS makes the robot autonomous. Before simulation (usign Gazebo), how could I have a model of my robot, which tools do you suggest me? SImulation will evaluate the logic behind the message, I think, not if robot structure is physically stable (for example). Am I wrong?

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answered 2018-10-13 09:16:30 -0600

dmpatod gravatar image

I recomend the book "Effective Robotics Programming with ROS" to learn the basics of ros and how to create a robot model and simulate on gazebo. Also the a look on "The construct" chanel on Youtube.

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answered 2018-10-12 12:15:35 -0600

jacobperron gravatar image

Simulation can be used to validate both application logic and physics of your robot (to some degree). For example, Gazebo does physics simulation and can be used to take into consideration mass, gravity, light, real-world errors (noise), etc. As another example, Stage is a 2D simulator that does not have a physics model, but still useful for validating application logic. Choice of simulator is up to you and depends on your application requirements.

For building a model of your robot in Gazebo, I suggest you take a look at urdf/Tutorials. URDF files are used in ROS and Gazebo for describing the physical properties of robots.

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Asked: 2018-10-10 00:30:08 -0600

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Last updated: Oct 12 '18